Does anyone have any good references for equations which can be implemented relatively easily for how to compute the transfer of angular momentum between two rigid bodies? I've been searching for this sort of thing for a while, and I haven't found any particularly comprehensible explanations of the problem. To be precise, the question ...
For use in a rigid body simulation, I want to compute the mass and inertia tensor (moment of inertia), given a triangle mesh representing the boundary of the (not necessarily convex) object, and assuming constant density in the interior. ...
I have the orientation of an object stored as a unit quaternion, and I want to see what angle the object's local x axis makes with the global y axis. What's the easiest way to do that? Thanks! ...